What is included with this book?
Preface | p. xiii |
Acknowledgments | p. xvii |
GNSS and Other Navigation Sensors | p. 1 |
Global Navigation Satellite System (GNSS) | p. 1 |
Description of a Typical GNSS | p. 2 |
Simple (Pseudorange) GNSS Navigation | p. 3 |
Differential GNSS Navigation | p. 6 |
Precise (RTK) GNSS Navigation | p. 8 |
Current and Future GNSS Constellations | p. 11 |
Pseudolites | p. 14 |
Pseudolite Basics | p. 14 |
Pseudolite/GNSS Navigation | p. 14 |
Differential Pseudolite/GNSS Navigation | p. 15 |
Pseudolite Self-Synchronization | p. 16 |
Stand-Alone Pseudolite Navigation | p. 16 |
Conflicts with GNSS Frequencies | p. 17 |
Inertial Navigation Systems (INS) | p. 18 |
Linear Inertial Instruments: Accelerometers | p. 18 |
Angular Inertial Instruments: Gyroscopes | p. 20 |
Ideal Inertial Navigation | p. 21 |
Sensing Earth Effects | p. 23 |
Inertial Instrument Errors | p. 25 |
Inertial Error Propagation | p. 30 |
Odometer Technology | p. 31 |
Quantization | p. 32 |
Wheel Slip | p. 32 |
Wheel Radius Error | p. 33 |
GNSS/Inertial Integration | p. 34 |
References | p. 35 |
Vision Aided Navigation Systems | p. 39 |
Lane Positioning Methods | p. 40 |
Lidar-Based Positioning | p. 40 |
Camera-Based Positioning | p. 42 |
Coordinate Frame Rotation and Translation | p. 43 |
Two-Dimensional Rotations | p. 44 |
Three-Dimensional Rotations | p. 45 |
Coordinate Frame Translation | p. 46 |
Global Coordinate Frame Rotations | p. 47 |
Waypoint-Based Maps | p. 48 |
Aiding Position, Speed, and Heading Navigation Filter with Vision Measurements | p. 49 |
Two-Dimensional Map Construction | p. 50 |
Measurement Structure | p. 51 |
Checking Waypoint Map Position | p. 51 |
Results | p. 52 |
Aiding Closely Coupled Navigation Filter with Vision Measurements | p. 52 |
Three-Dimensional Map Construction | p. 54 |
Measurement Structure | p. 56 |
Checking Waypoint Map Position | p. 58 |
Results | p. 58 |
References | p. 59 |
Vehicle Modeling | p. 61 |
Introduction | p. 61 |
SAE Vehicle Coordinates | p. 61 |
Bicycle Model | p. 63 |
Basics | p. 63 |
Understeer Gradient | p. 70 |
Four-Wheel Bicycle Model | p. 71 |
Tires | p. 74 |
Basics | p. 74 |
Contact Patch and Slip | p. 74 |
Tire Models | p. 76 |
Roll Model | p. 79 |
Free Body Diagram | p. 79 |
Equation of Motion | p. 80 |
State Space Representation | p. 80 |
Additional Models Used in this Work | p. 80 |
Two-Wheeled Vehicle | p. 81 |
Trailer Model | p. 82 |
Vehicle Model Validation | p. 84 |
References | p. 88 |
Navigation Systems | p. 91 |
Introduction | p. 91 |
Kalman Filter | p. 92 |
GPS/INS Integration Architectures | p. 93 |
Loose Coupling | p. 93 |
Close Coupling | p. 94 |
Speed Estimation | p. 95 |
Accelerometer and GPS | p. 96 |
Accelerometer, GPS, and Wheel Speed | p. 102 |
Heading Estimation | p. 107 |
Position, Speed, and Heading Estimation | p. 111 |
Coordinate Conversion | p. 112 |
Accelerometer, Yaw Rate Gyroscope, GPS, and Wheel Speed | p. 113 |
Navigation in the Presence of Sideslip | p. 120 |
Generation of Sideslip | p. 120 |
Sideslip Compensation with a Dual Antenna GPS Receiver | p. 122 |
Closely Coupled Integration | p. 130 |
References | p. 143 |
Vehicle Dynamic Estimation Using GPS | p. 145 |
Introduction | p. 145 |
Sideslip Calculation | p. 146 |
Vehicle Estimation | p. 147 |
Experimental Setup | p. 148 |
Test Scenarios | p. 148 |
Kinematic Estimator (Single GPS Antenna) | p. 149 |
Kinematic Kalman Filter (Dual Antenna) | p. 151 |
Tire Parameter Identification | p. 154 |
Model-Based Kalman Filter | p. 160 |
Linear Tire Model | p. 161 |
Nonlinear Tire Model | p. 164 |
Estimator Accuracies | p. 170 |
Conclusions | p. 171 |
Acknowledgments | p. 172 |
References | p. 172 |
GNSS Control of Ground Vehicles | p. 175 |
Introduction | p. 175 |
Vehicle Model | p. 175 |
Speed Controller | p. 179 |
Vehicle Steering Control | p. 181 |
Classical Steer Angle Controller | p. 181 |
Classical Yaw Rate Controller | p. 182 |
Waypoint Control | p. 185 |
Heading Model | p. 185 |
Heading Error Calculations | p. 186 |
Heading Control | p. 187 |
Simulation Results | p. 190 |
Lateral Control | p. 192 |
Error Calculation | p. 193 |
Lateral Position Model | p. 198 |
Lateral Position Control | p. 200 |
Simulation Results | p. 203 |
Implement/Trailer Control | p. 203 |
Trailer Model | p. 204 |
Error Calculation | p. 206 |
Trailer Control | p. 208 |
Simulation Results | p. 210 |
References | p. 212 |
Pseudolites for Vehicle Navigation | p. 215 |
Pseudolite Applications | p. 215 |
Open-Pit Mining | p. 216 |
Construction Sites | p. 218 |
Urban Navigation | p. 218 |
Indoor Applications | p. 219 |
Pseudolite Systems | p. 221 |
IntegriNautics IN400 | p. 221 |
Novariant Terralite XPS System | p. 223 |
Locata LocataLites | p. 225 |
References | p. 226 |
Appendix Estimation Methods | p. 229 |
Introduction | p. 229 |
System Model | p. 229 |
Discretization | p. 231 |
Least Squares | p. 233 |
Weighted Least Squares | p. 236 |
Recursive Weighted Least Squares | p. 243 |
Kalman Filter | p. 246 |
Extended Kalman Filter | p. 249 |
Initialization | p. 252 |
References | p. 252 |
About the Authors | p. 253 |
Index | p. 257 |
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